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AA241x 2016 Code Wiki

Welcome to the instructions for getting you started and around the AA241x PX4 code.

Below you will find links to all the guides and instructions to help you setup and familiarize yourselves with the ground control software and the AA241x PX4 software. Also please make sure to read through the logging information so you can get the information required of you for the first (and subsequent) assignments.

For those of you who will be working with developing the software for your flight controller, you'll also want to jump in to the development environment setup and source code information sections to start getting yourself acquainted with the source code you will be working with.

QGroundControl

QGroundControl is the ground station we will be using to communicate with the Pixhawk. Through this ground station you will be able to get live information about the vehicle, and you will be able to communicate with the Pixhawk. Here is guide to help you understand the different windows and settings available from the ground station.

Data Logs

To analyze your flights, the Pixhawk logs flight data to a log file on the SD card in the Pixhawk. Below are a set of guides to help you download the logs and understand all the different fields that have been logged.

1. Downloading Data Logs
2. Data Log Details

Development Environment and AA241x PX4 Setup

At this point everyone should be moving to use the AA241x version of the PX4 code. There is a certain amount of setup required to get the programming environment set up and running for you to then be able to upload your code to the Pixhawk. Below are some guides to help you through those steps. Note that the process in uploading your code to the Pixhawk is different from when you uploaded the default PX4 firmware, so please make sure to follow these instructions.

1. Getting everything set up
2. Compiling and uploading your code

Source Code Information

The source code can be a little intimidating the first time you take a look at it as there are a lot of files and there is a lot going on. The pages below are aimed towards helping you understand the code elements and clear up any confusion. If you are still confused about certain things, please let me know and ask me questions. The more feedback I get, the better I can make these pages to make things as clear as possible.

1. Source code intro
2. Writing your code
3. Creating parameters
4. Data structures you will encounter

Mission Info/Setup

These will detail the code implementation of the mission so that it is easy for you to integrate your control/navigation code in a flexible way, as well as so you can understand the algorithmic details of how the flight will be judged.

1. Racecourse Info
2. Mission Parameters

Other Resources

Here are just a variety of other resources that may or may not be useful. I do highly recommend the PX4 Framework Overview for those of you who are interested in learning more about the structure and design of the PX4 software.

1. Main PX4 Website
2. Default PX4 Flight Modes
3. PX4 Framework Overview

Credit

This wiki was shamelessly copied from Adrien Perkins (adrnp) and almost all of the AA241x PX4 code development can be attributed to him. Thanks Adrien!!!